CN114795873A

CN114795873A - Massage system and massage device

Info

Publication number: CN114795873A
Application number: CN202111334155.5A
Authority: CN
Inventors: 稲田二千武
Original assignee: Family Inada Co Ltd
Current assignee: Family Inada Co Ltd
Priority date: 2021-01-27
Filing date: 2021-11-11
Publication date: 2022-07-29
Also published as: US20220234210A1

Abstract

The invention provides a massage system which can perform massage suitable for a patient regardless of variation of massage technique of the patient. A massage system (100) for a massage facility, which has a robot arm (10) and which performs a massage to a user using the robot arm, is provided with: a control unit (i.e., a computing device) (3) for causing the mechanical arm to perform a massage operation in accordance with a program; and a setting unit that receives an operation for setting a set position for the massage operation from an operator, wherein the control unit causes the robot arm to perform the massage operation with respect to the treatment position based on the set position.

Description

Massage system and massage device

Technical Field

The present invention relates to a massage system and a massage device.

Background

Conventionally, the act of applying physical stimulation to a subject (i.e., massage) is performed by a user called a masseur or the like. Therefore, the massage technique may vary or be burdened depending on the user.

In this regard, a technique using a robot body care system having a robot hand is proposed in japanese patent No. 6733973 (hereinafter, referred to as patent document 1) and the like.

Patent document 1: japanese patent No. 6733973

As a problem 1, a massage device (body care equipment) proposed in patent document 1 is a device separate from a treatment table, and is installed above the treatment table and can be used. That is, the position of the massage device with respect to the subject on the treatment table is not fixed. Therefore, when the position of the massage device with respect to the subject is different from the preset treatment position, the desired massage effect may not be imparted to the subject even if the massage device performs the massage operation according to the program. Therefore, a massage system that can be accurately set at a treatment position of a subject is desired.

As the 2 nd problem, in addition to the massage operation by the robot according to the program, there is a case where a massage by a user such as a masseur is additionally performed. In this case, it is expected that the massage by the user can be performed efficiently by referring to the massage operation performed by the robot according to the program.

Disclosure of Invention

According to one embodiment, a massage system for a massage facility that has an arm and performs a massage with the arm on a user, the massage system includes: a control unit for causing the mechanical arm to perform a massage operation according to a program; and a setting unit that receives an operation for setting a set position for the massage operation from an operator, wherein the control unit causes the robot arm to perform the massage operation with respect to the treatment position based on the set position. Further details are explained in the embodiments described later.

According to one embodiment, a massage apparatus for a massage facility that performs a pre-ending massage on a subject by a massage apparatus and performs a post-ending massage on the subject by a treatment person after the pre-ending massage is performed includes an arithmetic device configured to generate, from information obtained during the pre-ending massage, provided information to be provided to the treatment person for the post-ending massage, and to output the provided information after the pre-ending massage is performed. Further details are explained in the embodiments described later.

Drawings

Fig. 1 is a schematic view showing an outline of a massage system and a method of using the massage system according to the embodiment.

Fig. 2 is a diagram for explaining the configuration of the massage device included in the massage system and the setting operation of the setting position of the robot arm using the massage device.

Fig. 3 is a schematic block diagram showing the configuration of an arithmetic device included in the massage system.

Fig. 4 is a diagram for explaining a treatment flow of massage to a user using the massage system.

Fig. 5 is a diagram for explaining another example of the setting operation of the set position of the robot arm by the massage device.

Fig. 6 is a diagram for explaining a method of machine learning of a learning model used in the arithmetic device.

In the figure: 1-massage device, 3-arithmetic device, 5-server, 7-network, 9-terminal device, 10-robot, 10L-robot, 10R-robot, 10 a-massage hand, 11-track, 12-mobile device, 12 a-lock, 13-touch panel, 13A-set button, 13B-set button, 13C-camera, 14-microphone, 15-speaker, 17-joint, 17 a-lock, 21-bed, 22-bed, 31-processor, 32-memory, 33-communication device, 51-learning model, 100-system, 311-recognition process, 312-mode switching process, 313-motion control process, 314-cooperation process, 315-information generation processing, 316-information output processing, 317-sound output processing, 321-massage action program, M1-marker, M2-marker, M3-marker, M4-marker, P1-reference position, P2-reference position, P3-reference position, P4-special position, PT 1-user (subject), PT 2-applicator, R1-massage room 1, R2-massage room 2, S-arrow.

Detailed Description

< 1. summary of massage system and massage device

(1) A massage system according to one embodiment is a massage system for a massage facility that has an arm and performs a massage with the arm to a user, the massage system including: a control unit for causing the mechanical arm to perform a massage operation according to a program; and a setting unit that receives an operation for setting a set position for the massage operation from an operator, wherein the control unit causes the robot arm to perform the massage operation with respect to the treatment position based on the set position.

The massage facility is a facility in which a user can perform a massage. Examples of the massage facility include a massage shop, an acupuncture clinic, a beauty parlor, and an osteopathy clinic. The applicator is a person who applies a massage to the user, such as a masseur, cosmetologist, masseur, or judo rehabilitation.

The setting position is set by, for example, a person other than the subject. The person other than the subject is, for example, a massage therapist or the like, i.e., a therapist, or a worker of a massage facility.

The set position is a position used for a massage operation of the massage apparatus having the robot arm, and may include, for example, a reference position corresponding to the physique of the user. The set position may include a special position that is a position for specifying adjustment of the massage operation. The special positions are, for example: the treatment position is contraindicated for the parts such as the over-stiff parts and the like which are mainly used for treatment, and the parts which are not desired to be massaged and the like.

In the massage system, the robot arm performs a massage operation with respect to a treatment position obtained based on a set position for the massage operation set by a setting operation of an operator. That is, the position of the robot arm can be accurately set at the treatment position of the patient. This enables massage of a treatment position suitable for the user.

(2) Preferably, the set position includes a reference position corresponding to the physique of the user. The reference position is a position corresponding to the physical constitution of the user, such as a shoulder position, a waist position, an acupuncture point position, and the like. By setting these positions, the physique of the user can be recognized, and the massage operation can be performed for an appropriate treatment position.

(3) Preferably, the set position comprises a specific position specifying an adjustment of the massage action. The adjustment of the massage operation includes, for example, at least one of adjustment of the massage intensity and adjustment of the massage content. The massage content may include, for example, a massage position, a manipulation corresponding to a massage operation, or the like. The special positions include, for example, key treatment positions such as excessively rigid parts, treatment-prohibited positions such as parts not intended to be massaged, and the like. This enables a massage suitable for the user or a massage desired by the user to be performed.

(4) Preferably, the setting position includes a reference position corresponding to the physique of the user and a specific position for specifying adjustment of the massage operation, and the setting unit is configured to be able to set the reference position and the specific position separately. This enables setting of the reference position and the specific position.

(5) Preferably, the control unit is configured to be able to recognize the set position by guiding the robot arm by an operator. Thus, the operator can perform the setting operation of the set position by the robot arm.

(6) Preferably, the robot arm is configured to be in a setting mode in which guidance is possible when setting the setting position. The setting mode is, for example, a state in which a person can move the position of the robot arm by hand, and is, for example, a state in which the lock for restricting the movement is released. Thus, the operator can perform the setting operation of the set position by the robot arm.

(7) Preferably, the setting unit includes an operation unit that is disposed at a position operable at the time of guidance and that determines that the position of the robot arm is the set position. The operation unit is a member requiring operator contact, such as a button. Since the setting unit is disposed at a position that can be operated during guidance, the operator who performs guidance can easily perform the operation.

(8) Preferably, the massage system further includes a reading device that reads the mark, and the control unit is configured to be able to recognize the set position by causing the reading device to read the mark provided at a position of the body of the user corresponding to the set position. The reading device is for example a camera. The set position can be set by causing the reading device to read the mark.

(9) The massage device according to one embodiment is a massage device for a massage facility that performs a pre-ending massage by a massage device on a subject and performs a post-ending massage by a treatment person after the pre-ending massage is performed, and includes an arithmetic device configured to generate, from information obtained during the pre-ending massage, provided information to be provided to the treatment person for the post-ending massage, and output the provided information after the pre-ending massage is performed.

The massage facility is a facility that can perform massage by a user who massages a subject (for example, a massage engineer, a beautician, a massage engineer, a judo rehabilitation engineer, or the like), and is, for example, a massage shop, an acupuncture clinic, a beauty shop, a bone setting clinic, or the like.

By generating and outputting the provided information provided to the user for the final massage, the user can perform the final massage based on the provided information. Therefore, the user can perform the final massage efficiently with reference to the massage operation of the pre-final massage.

(10) Preferably, the providing information includes information indicating treatment contents of the pre-ending massage. Thus, the user can perform the ending massage efficiently with reference to the treatment content of the pre-ending massage.

(11) Preferably, the provided information includes information indicating the therapeutic effect of the pre-ending massage. The information indicating the therapeutic effect includes, for example, information indicating the physical state of the subject after the treatment, specifically, information indicating a portion where stiffness is relieved, a portion which remains stiff, and the like. As an example, the information may be output in the form of a diagram schematically showing the body of the subject. Thus, the user can perform the ending massage with reference to the therapeutic effect of the pre-ending massage.

(12) Preferably, the massage device further includes a microphone, and the arithmetic device obtains output information provided by the learning model by inputting the voice data obtained by the microphone during the period related to the therapy of the pre-ending massage into the learning model that is machine-learned so as to provide the output information for the input of the voice data, the provided information including the output information.

The period related to the treatment of the pre-ending massage includes at least one of a massage action period of the pre-ending massage, a massage action period after the pre-ending massage, and a massage action period before the pre-ending massage. By using the learning model, the provided information can be easily generated.

(13) Preferably, the sound data includes data representing the treatment effect of the pre-ending massage derived from the voice of the subject. Thus, the therapeutic effect of the pre-ending massage can be obtained from the sound data, and the provided information can be generated according to the therapeutic effect.

(14) Preferably, the massage device further includes a speaker, and the arithmetic device is configured to output a voice for a dialogue with the subject from the speaker during a period related to the treatment of the pre-ending massage. Thus, voice data can be obtained in a dialogue from the subject during a period related to the therapy of the pre-ending massage. This enables the therapeutic effect of the pre-ending massage to be obtained and used for the generation of the information.

(15) Preferably, the operation device is configured to store the provided information in a storage device accessible to the other device in association with the specific information of the subject. The other device is, for example, a terminal device carried by the user. Thus, even if the user is located in a space different from the space for performing the pre-ending massage, the provided information can be obtained. Therefore, for example, it is possible to realize a use method of performing a pre-ending massage and a ending massage in different spaces.

< 2 examples of massage system and massage device

Referring to fig. 1, a massage system (hereinafter, referred to as a system) 100 according to the present embodiment is a system which includes a massage apparatus 1 having a robot arm 10 and massages a user (subject) PT1 with the robot arm 10.

The system 100 is a massage system for a massage facility assumed to be used in the massage facility. The massage facility is a facility which the therapist PT2 can massage the user PT 1. Examples of the massage facility include a massage shop, an acupuncture clinic, a beauty parlor, and an osteopathy clinic. The applicator PT2 is a person who applies a massage to the user, such as a masseur, cosmetologist, masseur or judo rehabilitation.

The system 100 is used to perform the 1 st massage using the massage apparatus 1 to the user PT1 (step S1), and then the 2 nd massage is performed by the treatment person PT2 (step S2). The massage to the user PT1 may be ended by performing the 1 st massage and then performing the 2 nd massage, or the 1 st massage may be performed after the 2 nd massage.

The 1 st massage is an automatic massage automatically performed by the massage apparatus 1. The 2 nd massage is a manual massage by the therapist PT2 performed after the 1 st massage. In other words, the 2 nd massage is the ending massage of the 1 st massage, and the 1 st massage is the pre-ending massage. In the following examples, the 1 st massage is regarded as a pre-ending massage by the massage apparatus 1, and the 2 nd massage is regarded as an ending massage by the therapist PT 2.

The massage device 1 has a movement function described later, and is movable relative to the treatment table. When a massage is performed on the user PT1, the massage apparatus 1 is moved to a treatment table on which the user PT1 is placed and set.

The treatment table is a table on which the user PT1 who receives a massage is placed, and may be any of a bed type, a mattress type, and a treatment chair type, for example. The term "supported on the treatment table" means that the treatment table is a bed or a mat, and the treatment table is a treatment chair, and the treatment table is a bed or a mat, and the treatment chair is a chair. In the following description, the treatment table is considered to be a bed on which the user PT1 lies when receiving treatment. In addition, lying down may include both lying prone and lying supine, either way. In the following description, lying down means lying prone.

In the example of fig. 1, a subject (i.e., a user) PT1 lies on a bed 21 provided in the 1 st massage room R1. In step S1, the massage apparatus 1 is set on the bed 21, and the user PT1 is massaged before ending. Then, in the example of fig. 1, the user PT1 moves to the 2 nd massage room R2 and lies on the bed 22. As another example, the user PT1 may be left in the 1 st massage room R1 and the user PT2 may enter the 1 st massage room R1 for a final massage. In this case, the massage apparatus 1 may be moved to another massage room not shown and used, or may be used by another user in the 1 st massage room R1. In step S2, the treatment person PT2 performs a final massage on the user PT1 in the 2 nd massage room R2.

The system 100 has an arithmetic device 3. The arithmetic device 3 is connected to the massage device 1 by a wired or wireless connection, and functions as a control unit for causing the robot arm 10 to perform a massage operation in accordance with a program. In the example of fig. 1, the arithmetic device 3 is a device different from the massage device 1. As another example, the arithmetic device 3 may be incorporated in the massage device 1.

The arithmetic device 3 can communicate with other devices via a network 7 such as the internet. For example, the computing device 3 can access the server 5. In addition, when the server 5 is a storage device mounted on the computing device 3, the computing device 3 may not need to communicate with another device.

Other devices may also access the server 5. In the case of the example of fig. 1, the terminal device 9 may access the server 5. The terminal device 9 is, for example, a terminal device carried by the therapist PT2, and specifically, a smartphone, a tablet terminal, or the like.

As an example, the massage apparatus 1 is provided in the vicinity of the bed 21 so as to be able to massage the user PT1 lying on the bed 21. Fig. 2 is a schematic view of the massage device 1 disposed on the bed 21, and is a plan view of the bed 21 from above.

Referring to fig. 2, the massage device 1 has a robot arm 10. The robot arm 10 is constituted by one or more robot arms. For example, the robot arm 10 includes a pair of left and

right robot arms

10L and 10R. The

robot arms

10L, 10R are collectively referred to as a robot arm 10. As another example, the robot arm 10 may be composed of three or more robot arms. As another example, only one robot arm 10 may be provided.

The robotic arm 10 is coupled to a moving device 12. As an example, the base end of the robot arm 10 is connected to the moving device 12. The moving device 12 is configured to move the robot arm 10 relative to the bed 21.

Movement of the robotic arm 10 relative to the couch 21 includes moving the robotic arm 10 to the vicinity of the couch 21. For this movement, the moving device 12 includes, for example, a caster not shown provided at a position opposite to the floor surface. The caster may be rotated in response to a control signal from the arithmetic device 3, or may be rotated in response to a manual operation by an operator such as the therapist PT 2. This enables the robot arm 10 to be moved from a position away from the bed 21 to the vicinity of the bed 21.

The movement of the robotic arm 10 relative to the couch 21 includes movement along the length of the couch 21. For this movement, the moving device 12 is configured to be movable along a rail 11 provided in parallel with the longitudinal direction of the bed 21, as an example. The positional relationship between the rail 11 and the bed 21 is predetermined and stored in the arithmetic device 3.

The moving device 12 moves the robot arm 10 along the rail 11 in the direction, the amount of movement, and the moving speed based on the control signal from the arithmetic device 3. This enables the robot arm 10 connected to the moving device 12 to move in the longitudinal direction of the bed 21.

The robot arm 10 has a treatment portion. The robot arm 10 has one or more joints 17 that can rotate in multiple directions. The rotation in the plurality of directions may be achieved by combining a plurality of joints that rotate in a single axis, or may be achieved by one or more joints that can rotate in a plurality of directions. The joint 17 may be a ball joint. In the example of fig. 2, the robot arm 10 has one joint 17 that can rotate in a plurality of directions. The joint 17 rotates in a rotational direction, a rotational amount, and a rotational speed based on a control signal from the arithmetic device 3.

By rotating the joint 17 in the rotation direction, the rotation amount, and the rotation speed based on the control signal from the arithmetic device 3, the position of the treatment unit with respect to the base end of the robot arm 10 changes. The position here includes a position on a plane parallel to the bed 21 and a position in the height direction.

For example, the treatment portion is a massage hand 10a and is provided at the tip of the robot arm 10. The massage hand 10a has a drive mechanism (not shown), and is driven at a position held by the robot arm 10 in accordance with a control signal from the arithmetic device 3. Thereby, the massage hand 10a is operated while being in contact with the treatment position of the user PT1 with a predetermined pressure, and physical stimulation is given. As an example, the motion of the massage hand 10a includes a kneading motion and a beating motion.

The robot arm 10 moves in the longitudinal direction of the bed 21 in accordance with the control signal from the arithmetic device 3, and the joint 17 rotates, whereby the massage hand 10a provided at the tip of the robot arm 10 moves to a position based on the control signal from the arithmetic device 3. Thereby, the massage hand 10a can perform a massage operation on the treatment position of the user PT 1.

The arithmetic device 3 receives signals indicating the rotation direction, the rotation amount, and the rotation speed from the joint 17 of the robot arm 10. The arithmetic device 3 receives a signal indicating a driving state from a driving mechanism, not shown, of the massage hand 10 a. The arithmetic device 3 receives signals indicating the direction of movement, the amount of movement, and the movement speed from the movement device 12.

The arithmetic unit 3 is configured to be able to recognize the position of the massage hand 10a based on the signal from the moving device 12 and the signal from the joint 17 of the robot arm 10. That is, the arithmetic unit 3 recognizes the position of the base end of the robot arm 10 with respect to the bed 21 based on the signal from the moving unit 12, and recognizes the position of the massage hand 10a with respect to the base end of the robot arm 10 based on the signal from the joint 17. Thereby, the arithmetic device 3 can recognize the position of the massage hand 10a with respect to the bed 21.

The massage hand 10a may include a sensor not shown, and inputs a sensor signal to the arithmetic device 3. As an example, the sensor is a pressure sensor. The pressure sensor detects the pressure received from the treatment site of the user PT1, and inputs a signal indicating the detection result to the arithmetic device 3. As another example, the sensor is a rotation sensor. The rotation sensor detects a rotation torque, a rotation speed, and the like of the motor necessary for the kneading motion and the tapping motion of the massage hand 10a, and inputs a signal indicating the detection result to the arithmetic device 3.

The sensor detects a reaction force at the time of treatment by the massage hand 10a, specifically, a reaction force of treatment that changes according to the hardness (i.e., the degree of stiffness) of the treatment portion. Therefore, the information indicated by the sensor signal can be said to be information indicating the therapeutic effect of the massaging hand 10 a.

The massage apparatus 1 has two operation modes, an operation mode (hereinafter, also referred to as a massage mode) in which a massage operation is performed and an operation mode (hereinafter, also referred to as a setting mode) in which a position of the user PT1 is set.

In the massage mode, the arithmetic device 3 controls the drive of the moving device 12 and the joint 17 of the robot arm 10 in order to move the massage hand 10a to the treatment position in accordance with the massage operation program 321 (fig. 3). This enables the massage hand 10a to be moved to a position suitable for massage with respect to the user PT 1.

In the setting mode, the arithmetic device 3 does not control the drive of the moving device 12 and the joint 17 of the robot arm 10. Therefore, the robot arm 10 and the massage hand 10a can be moved under the guidance of the operator such as the treatment worker PT 2. The guidance of the operator means: the operator pushes the robot arm 10 and the massage hand 10a in the moving direction by hand, and rotates the joint 17 of the robot arm 10.

In the setting mode, the arithmetic device 3 recognizes the position of the massage hand 10a with respect to the bed 21 based on the signal from the moving device 12 and the signal from the joint 17 of the robot arm 10. This allows the position of the massage hand 10a moving under the guidance of the operator with respect to the bed 21 to be recognized.

Preferably, the moving means 12 comprises a locking portion 12 a. The lock portion 12a is a mechanism for switching the mobile device 12 between a state in which guidance by the operator is possible and a state in which guidance by the operator is not possible. For example, the locking portion 12a is a locking mechanism that blocks (locks) movement along the rail 11 or releases the blocking (unlocking) of the movement. Specifically, the locking portion 12a is locked in the massage mode, and unlocked in the set mode. The lock may be a physical prevention of movement, or may be a return of the mobile device 12 moved by guidance to a position before movement by the arithmetic device 3.

The joint 17 of the robot arm 10 may include the same locking portion 17 a. The lock portion 17a is a mechanism for switching the rotation of the joint 17 between a rotatable state and a non-rotatable state based on the guidance of the operator.

For example, the locking

portions

12a and 17a switch between locking and unlocking in response to a control signal from the arithmetic device 3. The switching between the locking and the unlocking can be performed by an operator operating an operation unit described later. Thus, even if the hand or the like accidentally hits the robot arm 10 in the massage mode, the robot arm can continue the massage operation without moving.

The massage device 1 includes a touch panel 13 as an example of an operation unit for receiving an operation by an operator. The operation by the operator includes a setting operation of a setting position described later.

The touch panel 13 is disposed at a position where an operator can easily operate the touch panel, and is disposed at the root of the robot arm 10 as an example. This facilitates the operation of the operator positioned near the bed 21.

The touch panel 13 inputs an operation signal based on a user operation to the arithmetic device 3. The arithmetic device 3 executes processing based on the operation signal. As an example, the user operation on the touch panel 13 is an operation of designating a selection result of a massage therapy course. In this case, the arithmetic device 3 executes processing based on a program corresponding to the selected massage therapy course indicated by the operation signal. Thereby, a massage therapy course is selected, and the user PT1 is subjected to pre-ending massage based on the selected massage therapy course.

Preferably, the massage device 1 includes setting

buttons

13A and 13B as an example of an operation unit for receiving an operation by an operator. The setting

buttons

13A and 13B are a button for indicating a reference position described later and a button for indicating a special position described later, respectively.

The setting

buttons

13A and 13B are disposed at positions that can be operated by the operator when guiding the robot arm 10. As an example, as shown in the enlarged view of the portion a in fig. 2, the setting

buttons

13A and 13B are disposed in the vicinity of the massage hand 10a of the robot arm 10R. Thus, the operator who guides the robot arm 10 with his or her hand held by the massage hand 10a in order to set the reference position and the special position can easily operate the

setting buttons

13A and 13B. As another example, the setting

buttons

13A and 13B may be provided on the other robot arm 10L, or the

setting buttons

13A and 13B may be provided on both the robot arm 10R and the robot arm 10L.

The setting

buttons

13A and 13B input operation signals based on operations by an operator or the like to the arithmetic device 3. The arithmetic device 3 executes processing based on the operation signal. The user operation of the

setting buttons

13A and 13B is a setting operation of a setting position to be described later. In this case, the arithmetic device 3 executes recognition processing described later using the operation signal.

The massage device 1 has a microphone 14. The microphone 14 receives an input of a voice generated based on the utterance of the user PT1 lying on the bed 21, and transmits voice data to the arithmetic device 3. Therefore, the microphone 14 is disposed at a position where the sound from the user PT1 lying prone on the bed 21 can be input.

The massage device 1 has a speaker 15. The speaker 15 outputs a sound based on the sound data transmitted from the arithmetic device 3 in accordance with the control signal from the arithmetic device 3. The speaker 15 is disposed at a position where sound can reach the user PT1 lying prone on the bed 21.

Referring to fig. 3, the arithmetic device 3 is constituted by a computer having a processor 31 and a memory 32. The processor 31 is, for example, a CPU. The memory 32 includes flash memory, EEPROM, ROM, RAM, and the like. Alternatively, the memory 32 may be a primary storage device or a secondary storage device.

The memory 32 stores a massage operation program 321 executed by the processor 31. The processor 31 executes the massage operation program 321 to execute arithmetic processing (hereinafter, simply referred to as arithmetic processing) for causing the massage apparatus 1 to perform pre-ending massage.

The arithmetic device 3 includes a communication device 33 that can communicate with another device such as the server 5 via the network 7. When the computing device 3 is mounted with the server 5, the computing device 3 may not include the communication device 33.

The arithmetic processing performed by the processor 31 includes a recognition processing 311. The recognition processing 311 includes processing for recognizing a set position. The set position is a position used for the massage operation of the massage apparatus 1 and includes a reference position corresponding to the physique of the user PT 1. The setting method is left as described later.

The arithmetic processing includes a mode switching processing 312. The mode switching process 312 includes switching the massage mode and the setting mode. Specifically, switching between the massage mode and the setting mode means: the processor 31 outputs a control signal for locking the locking portion 12a to the locking portion 12a of the mobile device 12 in the massage mode, and outputs a control signal for unlocking the locking portion 12a to the locking portion 12a of the mobile device 12 in the setting mode.

The arithmetic processing includes an operation control processing 313. The operation control processing 313 includes processing for causing the massage apparatus 1 to perform a massage operation. In the motion control processing 313, the processor 31 outputs a control signal for moving the robot arm 10 to the moving device 12 and/or the joint 17 of the robot arm 10, for example, in accordance with a program for performing a massage motion specified by an operation signal or the like from the touch panel 13. In the operation control processing 313, the processor 31 outputs a control signal for driving the massage hand 10a to a driving mechanism of the massage hand 10a, not shown.

The arithmetic processing includes the cooperative processing 314. The cooperative processing 314 is: for coordinating the pre-ending massage by the massage apparatus 1 with the ending massage by the therapist PT2 performed thereafter. The cooperative process 314 includes an information generation process 315. The information generation process 315 includes generating providing information for providing to the therapist PT 2.

The supply information includes information indicating the treatment content of the pre-ending massage. The information indicating the treatment content of the pre-ending massage includes, for example, information indicating the selected massage treatment course, information indicating the actual operation time, and the like. Since the provided information includes these pieces of information indicating the treatment contents of the pre-ending massage, the treatment provider PT2 can perform the ending massage with reference to the treatment contents of the pre-ending massage in the ending massage.

The provided information includes information indicating the therapeutic effect of the pre-ending massage. The information indicating the therapeutic effect of the pre-ending massage is, for example, a value obtained by a sensor such as the pressure sensor or the rotation sensor described above during the massage operation, information based on sound data obtained by the microphone 14 during the massage operation, or the like. Specifically, the information indicating the therapeutic effect is information indicating the physical state of the user PT1 after the therapy, and is, for example, a part in which stiffness is relieved or a part in which stiffness is still maintained. Such information included in the provision information may be output in the form of a diagram schematically representing the body of the user PT 1.

Since the provided information includes these pieces of information indicating the therapeutic effect of the pre-ending massage, the practitioner PT2 can perform the ending massage with reference to the therapeutic effect of the pre-ending massage in the ending massage. The specific production method will be described later.

The cooperative processing 314 includes information output processing 316. The information output processing 316 includes outputting the provided information after the pre-ending massage is performed. The output object may be the terminal device 9 carried by the therapist PT 2. Thereby, the information is provided to the therapist PT 2.

The output object may also be the server 5. In this case, the processor 31 passes the provision information to the communication device 33 and causes it to be transmitted to the server 5. Preferably, the processor 31 associates the providing information with identification information such as a user id (identification) of the user PT1 and transmits the associated information to the server 5. As a result, as shown in fig. 3, the provision information can be stored in the server 5 in association with the user ID of the user PT 1.

The cooperative processing 314 includes sound output processing 317. The sound output processing 317 includes outputting a sound for a dialogue with the user PT1 from the speaker 15 during a period related to the treatment of the pre-ending massage. The processor 31 executes the sound output process 317 and the information generation process 315 at the same time, thereby generating the provided information using the sound data from the microphone 14. That is, the processor 31 generates the provided information based on the voice data obtained by the dialogue with the user PT1 during the period relating to the therapy of the pre-ending massage.

For example, the period related to the treatment of the pre-ending massage is a period during which the pre-ending massage is performed. Thus, the provided information is generated from the dialog with the user PT1 during the pre-ending massage. In this case, it is possible to obtain sound data such as the effect of the pre-ending massage.

As another example, the period related to the treatment of the pre-ending massage may be after the end of the pre-ending massage. Thereby, the provided information is generated from the dialogue with the user PT1 after the pre-ending massage is performed. In this case, it is possible to obtain sound data such as the effect of the pre-ending massage and the request for the ending massage.

As another example, the period related to the treatment of the pre-ending massage may be before the start of the pre-ending massage. Thereby, the providing information is generated from the dialogue with the user PT1 before the start of the pre-ending massage. In this case, it is possible to obtain sound data such as an expectation of a pre-ending massage or a request for a ending massage.

The treatment flow of the massage to the user PT1 by the present system 100 will be described with reference to fig. 4. The processing of fig. 4 is started when the user PT1 is guided to the 1 st massage room R1 of fig. 1 and lies on the bed 21. The massage device 1 is disposed in advance on the bed 21.

Referring to fig. 4, at the start of use of the massage apparatus 1, position setting of the massage apparatus 1 with respect to the user PT1 is performed. For example, the start of use is instructed to the arithmetic device 3 by the operator pressing a start button displayed on the touch panel 13.

The processor 31 of the computing device 3 switches the operation mode to the setting mode (step S100). In step S100, the processor 31 outputs a control signal to the

locking portions

12a, 17a to perform unlocking.

In the setting mode, an operator such as the therapist PT2 guides the robot arm 10 by hand or the like and recognizes the set position. The case where the reference positions P1, P2, and P3 are set will be described as an example with reference to fig. 2. The reference positions P1, P2, and P3 are the left shoulder position, the right shoulder position, and the center position of the waist of the user PT1, respectively.

Referring to fig. 2, the operator guides the robot arm 10R in the longitudinal direction of the bed 21 until the massage hand 10a reaches the reference position P1. Thereby, the moving device 12 moves in the arrow S direction. The operator places the massage hand 10a on the left shoulder of the user PT1 as the reference position P1, and in this state, presses the set button 13A that instructs the setting of the reference position. Next, the operator places the massage hand 10a on the right shoulder of the user PT1 as the reference position P2, and in this state, presses the setting button 13A that instructs the reference position setting. Finally, the operator positions the massage hand 10a at the center of the waist of the user PT1 as the reference position P3, and in this state, presses the setting button 13A that instructs the setting of the reference position.

The processor 31 of the arithmetic device 3 receives the input of the operation signal of the setting button 13A in the setting mode, and executes the recognition processing 311 to recognize the position of the massage hand 10a at this time as the reference positions P1, P2, and P3 in this order.

When the predetermined reference positions P1, P2, and P3 are recognized, the processor 31 recognizes the physique of the user PT1 from the positions (step S101). In detail, referring to fig. 2, the processor 31 recognizes the interval W between the reference positions P1, P2 as the shoulder width of the user PT 1. Also, the processor 31 identifies the interval H between the midpoint between the reference positions P1, P2 and the reference position P3 as the shoulder to waist length of the user PT 1. The processor 31 stores in advance the interval W, H for the physique required for the massage, and uses the obtained interval W, H to recognize the physique of the user PT1 required for the massage.

As another example, the set position includes a special position. The special position is a position that specifies the adjustment of the massage action. The adjustment of the massage operation includes adjustment of the intensity and adjustment of the massage content. The massage content may include, for example, a massage position, a manipulation corresponding to a massage operation, or the like. The special position is a treatment-prohibited position such as an important treatment position such as an excessively rigid part or a part not desired to be massaged. These positions are grasped by the operator by referring to the user PT1 or the like before treatment, and are set in the massage apparatus 1 by position setting.

When setting the special position P4, referring to fig. 2, the operator guides the robot arm 10R in the longitudinal direction of the bed 21 until the massage hand 10a reaches the special position P4. Thereby, the moving device 12 moves in the arrow S direction. The operator places the massage hand 10a at a position of the user PT1, which is the special position P4, and in this state, presses the setting button 13B for instructing the special position setting.

The processor 31 of the arithmetic device 3 receives the input of the operation signal of the setting button 13B in the setting mode, and executes the recognition processing 311 to recognize the position of the massage hand 10a at this time as the special position P4 (step S103).

The position setting is not limited to the above method. As another example, as shown in the enlarged view of the portion B in fig. 5, a reading device such as a camera 13C may be provided on the side of the robot arm 10R facing the user PT1 so as to read the markers M1 to M4 provided on the upper surface of the user PT 1. As another example, the camera 13C may be provided on the other arm 10L, or may be provided on each of the arm 10R and the arm 10L. In this case, the marks M1, M2, and M3 indicating the reference positions P1, P2, and P3 are provided at the centers of the left shoulder, right shoulder, and waist of the user PT1, respectively, so that the processor 31 can recognize the physique of the user PT 1. Further, by providing the mark M4 indicating the special position P4 at the position corresponding to the special position P4, the processor 31 can recognize the special position P4.

In this example, the position is set using one arm 10R of the two

arms

10R and 10L. In this case, the positions of the plurality of robot arms in the massage operation are set by using the positions set by one robot arm 10. As another example, the position setting may be performed using all the robot arms.

Since the massage device 1 is a movable massage device which is not fixed to the bed 21, if the massage device 1 is provided while being moved to the vicinity of the bed 21, the position thereof with respect to the bed 21 (i.e., the position with respect to the user PT 1) may not be an appropriate position with respect to the treatment position. However, by setting the position in this manner, the massage hand 10a can be accurately moved to the treatment position in the next massage operation. That is, even when the massage apparatus 1 of the movable type with respect to the bed 21 is used, the positional relationship with the user PT1 can be set to an appropriate positional relationship. This enables effective massage to the user PT 1.

When the position setting is completed, the processor 31 switches the operation mode to the massage mode (step S105). At this time, the processor 31 applies the physique of the user PT1 recognized in step S101 and the special position recognized in step S103 to the program of the massage operation. The application includes setting the position of the massage performed in accordance with the program to a position corresponding to the user PT1, setting the massage intensity and the massage content in the special position to a massage intensity and a massage content corresponding to the user PT1, and the like.

Then, the processor 31 starts the massage operation (step S106). Thus, the massage apparatus 1 performs a programmed massage operation, and performs a programmed pre-ending massage on the user PT 1. Therefore, high quality treatment is performed regardless of the skill of the masseur. By performing the massage operation corresponding to the position set in steps S101 and S103, the pre-ending massage suitable for the user PT1 is performed.

During the massage operation, the processor 31 outputs the dialogue voices from the speaker 15 at a predetermined timing (step S107), and receives input of voice data from the microphone 14 (step S109). For example, the dialogue voice output in step S107 is output when the massage operation is completed. In this case, the dialogue sound output in step S107 may be "does fatigue disappear? "and so on, and the like. In this case, the voice data input in step S109 is the answer to the question, and is a voice such as "yes" or "no" indicating the effect of the treatment.

As another example, the dialogue voice output in step S107 is output during the operation of the massage operation. In this case, may be "do not go to pain? "and so on, and questions about the feeling or the request during the treatment. In this case, the voice data input in step S109 is the answer to the question, and is a voice such as "yes" or "please strengthen" indicating the feeling or request during the treatment period.

After the massage operation is finished, the processor 31 may similarly output the dialogue voice and receive the input of the voice data from the microphone 14. In this case, the output speech for conversation may be "which part is intended to receive the final massage? "and ask questions about the requirements of ending massage. In this case, the input voice data is the answer to the question, and is a voice such as "right shoulder" or "left wrist" indicating a request for a final massage.

The processor 31 executes the information generation processing 315 based on the sound data thus input, thereby generating the provided information (step S111). For example, in the information generation process 315, the processor 31 has a learning model 51, and obtains the provided information by inputting the obtained sound data into the learning model 51.

The learning model 51 is a machine-learned learning model as shown in fig. 6. That is, referring to fig. 6, the learning model 51 performs machine learning with a combination of a plurality of data in which voice data is used as input data and information related to the final massage is used as output data as a teacher model. For example, will a specific question "will fatigue be eliminated? The "voice data" is "learned as input data and data indicating" the time of the ending massage is set as the normal time "as output data. Then, the voice data "no" is learned as input data and data indicating "the time to set the ending massage longer" is learned as output data. And, will a question "which part is intended to receive a final massage? The "voice data" right shoulder "is input data, and data indicating the instruction" focus on right shoulder "is learned as output data. Then, the voice data "upper left" is learned as input data and data indicating an instruction "focus on upper left" is learned as output data.

The machine learning of the learning model 51 is not limited to the case where the audio data is used as the teacher model. Alternatively, the learning model 51 may use voice data as a teacher model, and may use other data as a teacher model to learn. As another example, the learning model 51 may perform machine learning using the history (for example, operation history) of the massage position, massage time, and the like of the massage apparatus 1 as input data and the massage position or massage time in the subsequent final massage as output data. As another example, the learning model 51 may perform machine learning using the key treatment position or the contraindication treatment position as the set position as input data and the massage position or the massage time in the subsequent final massage as output data. In addition, the input data and the output data may be image data schematically representing the body of the user.

By using such a learning model 51, in step S111, the processor 31 can input sound data into the learning model 51 so as to easily obtain the provided information output from the learning model 51.

As another example, the processor 31 may store the provision information corresponding to the voice data in advance and output the provision information corresponding to the input voice data. For example, the processor 31 may store the provision information corresponding to a specific term in advance, and read the provision information corresponding to a term obtained by performing sound analysis on the input sound data.

The processor 31 may change the parameters of the program of the massage operation based on the input voice data so that the massage operation is performed in accordance with the request. Thus, the user PT1 can receive an appropriate massage as if he/she received a massage while having a conversation with a massage engineer.

After the series of massage operations are finished (step S113 outputs the provided information generated in step S111 (step S115)), the processor 31 ends the pre-ending massage, and the user PT1 is guided to the 2 nd massage room r2 in fig. 1, and the user PT1 lies down on the bed 22, waiting for the ending massage by the user PT 2.

The output in step S115 includes, for example, causing the communication device 33 to transmit the provided information to the terminal device 9 carried by the treatment provider PT2 or the server 5 accessible by the terminal device 9. Thereby, the provided information is provided to the treating person PT2 who is to perform the final massage to the user PT1 in the 2 nd massage room R2.

The provided information is information for performing a final massage in cooperation with a pre-final massage, such as "short massage time" shown in fig. 4. Thus, the user PT2 can perform a fore-ending massage and a rear-ending massage. That is, in the present system 100, since the massage device 1 performs the pre-ending massage, the burden on the user PT2 can be reduced. Further, a massage service can be provided efficiently by a small number of users PT 2.

Thus, as illustrated in fig. 1, the present system 100 may also be used to perform fore-ending and aft-ending massages, respectively, in different spaces for the user PT1, for example. In this case, the user PT2 who performs the final massage may not know the status of the user PT1 during or after the pre-final massage. In this case, by providing the provision information based on the sound data at this time, it is possible to perform the ending massage in cooperation with the pre-ending massage.

Further, since the provided information is stored in the server 5 in association with the identification information of the user PT1, the provided information can be used as medical record information relating to a massage. Specifically, the contents of the pre-ending massage and the provided information are accumulated for each user PT1, and can be used for reference and the like at the time of the next treatment.

In addition, the providing information may also be provided to the user PT 1. In this case, the massage apparatus 1 may further include an output device for the user PT 1. As an example, the output device for the user PT1 is a display provided at a position easily visible to the user PT1 lying on the bed 21. Alternatively, the provided information provided to the user PT1 may be acoustically output from the speaker 15. In this case, for example, the output may be output in a dialogue form. Thereby, the user PT1 can also know the information for the ending massage.

Also, the provided information provided to the user PT1 may be different from the provided information provided to the treatment provider PT 2. In this case, the processor 31 simultaneously generates the providing information provided to the therapist PT2 and the providing information provided to the user PT1 in step S111. The provided information provided to the user PT1 may have a different expression form from the provided information provided to the treatment provider PT2 or may be added with instructions, for example. This makes it possible to provide useful information to the user PT1 and also to the treatment provider PT 2.

< 3. appendix

The present invention is not limited to the above embodiment, and various modifications can be made.

Claims

1. A massage system for a massage facility having a robot arm and performing a massage with the robot arm to a user, wherein,

the massage system is provided with:

a control unit that causes the robot arm to perform a massage operation in accordance with a program; and

a setting unit that receives an operation for setting a setting position for the massage operation from an operator,

the control unit causes the robot arm to perform the massage operation with respect to a treatment position based on the set position.

2. The massage system of claim 1,

the set position includes a reference position corresponding to a physique of the user.

3. The massage system of claim 1 or 2, wherein,

the set position includes a specific position specifying adjustment of the massage action.

4. The massage system of claim 1,

the set position includes a reference position corresponding to the physique of the user and a specific position specifying adjustment of the massage action,

the setting unit is configured to be able to set the reference position and the specific position in a distinguishable manner.

5. The massage system of any one of claims 1, 2, or 4,

the control unit is configured to be able to recognize the set position by the operator guiding the robot arm.

6. The massage system of claim 5,

the robot arm is configured to be in a setting mode in which the guidance is enabled when setting the setting position.

7. The massage system of claim 6,

the setting unit includes an operation unit that is disposed at a position operable when the guidance is performed and that determines that the position of the robot arm is the set position.

8. The massage system of any one of claims 1, 2, or 4,

the massage system is also provided with a reading device which reads the mark,

the control unit is configured to enable the set position to be recognized by causing the reading device to read the mark provided at a position of the body of the user corresponding to the set position.

9. A massage device for a massage facility which performs a pre-ending massage by a massage device on a subject and performs a final massage by a user after performing the pre-ending massage, wherein,

the massage device is provided with a computing device,

the arithmetic device is configured to be capable of,

generating providing information to be provided to the user for the final massage from information obtained during the pre-final massage,

outputting the provided information after the pre-ending massage is performed.

10. The massage apparatus of claim 9,

the provided information includes information indicating treatment content of the pre-ending massage.

11. The massage apparatus according to claim 9 or 10, wherein,

the provided information includes information indicating a therapeutic effect of the pre-ending massage.

12. The massage apparatus according to claim 9 or 10, wherein,

the massage device is also provided with a microphone,

the arithmetic device obtains the output information provided by a learning model by inputting sound data obtained by the microphone during a period related to the therapy of the pre-ending massage into the learning model that is machine-learned so as to provide output information for input of the sound data,

the provided information includes the output information.

13. The massage apparatus of claim 12,

the sound data includes data representing a therapeutic effect of the pre-ending massage derived from the voice production of the subject.

14. The massage apparatus of claim 12,

the massage device is also provided with a loudspeaker,

the arithmetic device is configured to output a voice for a dialogue with the subject from the speaker during a period related to the treatment of the pre-ending massage.

15. The massage apparatus according to claim 9 or 10, wherein,

the operation device is configured to store the provided information in a storage device accessible to another device in association with the specific information of the subject.